Int J Comput Assist Radiol Surg - Quantitative evaluation for accumulative calibration error and video-CT registration errors in electromagnetic-tracked endoscopy.

Tópicos

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Resumo

RPOSE: Electromagnetic (EM)-guided endoscopy has demonstrated its value in minimally invasive interventions. Accuracy evaluation of the system is of paramount importance to clinical applications. Previously, a number of researchers have reported the results of calibrating the EM-guided endoscope; however, the accumulated errors of an integrated system, which ultimately reflect intra-operative performance, have not been characterized. To fill this vacancy, we propose a novel system to perform this evaluation and use a 3D metric to reflect the intra-operative procedural accuracy.METHODS: This paper first presents a portable design and a method for calibration of an electromagnetic (EM)-tracked endoscopy system. An evaluation scheme is then described that uses the calibration results and EM-CT registration to enable real-time data fusion between CT and endoscopic video images. We present quantitative evaluation results for estimating the accuracy of this system using eight internal fiducials as the targets on an anatomical phantom: the error is obtained by comparing the positions of these targets in the CT space, EM space and endoscopy image space. To obtain 3D error estimation, the 3D locations of the targets in the endoscopy image space are reconstructed from stereo views of the EM-tracked monocular endoscope. Thus, the accumulated errors are evaluated in a controlled environment, where the ground truth information is present and systematic performance (including the calibration error) can be assessed.RESULTS: We obtain the mean in-plane error to be on the order of 2 pixels. To evaluate the data integration performance for virtual navigation, target video-CT registration error (TRE) is measured as the 3D Euclidean distance between the 3D-reconstructed targets of endoscopy video images and the targets identified in CT. The 3D error (TRE) encapsulates EM-CT registration error, EM-tracking error, fiducial localization error, and optical-EM calibration error.CONCLUSION: We present in this paper our calibration method and a virtual navigation evaluation system for quantifying the overall errors of the intra-operative data integration. We believe this phantom not only offers us good insights to understand the systematic errors encountered in all phases of an EM-tracked endoscopy procedure but also can provide quality control of laboratory experiments for endoscopic procedures before the experiments are transferred from the laboratory to human subjects.

Resumo Limpo

rpose electromagnet emguid endoscopi demonstr valu minim invas intervent accuraci evalu system paramount import clinic applic previous number research report result calibr emguid endoscop howev accumul error integr system ultim reflect intraop perform character fill vacanc propos novel system perform evalu use d metric reflect intraop procedur accuracymethod paper first present portabl design method calibr electromagnet emtrack endoscopi system evalu scheme describ use calibr result emct registr enabl realtim data fusion ct endoscop video imag present quantit evalu result estim accuraci system use eight intern fiduci target anatom phantom error obtain compar posit target ct space em space endoscopi imag space obtain d error estim d locat target endoscopi imag space reconstruct stereo view emtrack monocular endoscop thus accumul error evalu control environ ground truth inform present systemat perform includ calibr error can assessedresult obtain mean inplan error order pixel evalu data integr perform virtual navig target videoct registr error tre measur d euclidean distanc dreconstruct target endoscopi video imag target identifi ct d error tre encapsul emct registr error emtrack error fiduci local error opticalem calibr errorconclus present paper calibr method virtual navig evalu system quantifi overal error intraop data integr believ phantom offer us good insight understand systemat error encount phase emtrack endoscopi procedur also can provid qualiti control laboratori experi endoscop procedur experi transfer laboratori human subject

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